where \(g_{\mathrm {constraint}}\)  is conveniently chosen as 10 and \({\mathcal {B}}, {\mathcal {B}}_{\mathrm {init}} \sim {\mathcal {D}}_{\mathrm {env}}\) .
To optimize Eq. (REF ), we use the constraint optimization method in [1]} with base optimizer Adam [2]}.
For training stability, the gradient norm is clipped to be bounded by 1.
